JP2019093316A - Cleaner management device and cleaner management method - Google Patents

Abstract

To enable a numerical control type cleaner to evaluate a suitable performance of a cleaning nozzle as well as a performance of the mechanism for moving the cleaning nozzle.SOLUTION: A cleaner management device has a cleaning nozzle 12 that jets a cleaning fluid in a cleaning space, a nozzle movement mechanism 20 that moves the cleaning nozzle, a pump that supplies the cleaning nozzle with the cleaning fluid under pressurization, a control means 50 that numerically controls the nozzle movement mechanism and the pump, pressure plates 60 installed, respectively, at an original position of the cleaning nozzle and a movement position to which the cleaning nozzle is moved by the nozzle movement mechanism and have a plurality of pressure measurement points, a position control means 51 that arranges the cleaning nozzle on a pressure plate at a predetermined position and to a predetermined attitude, a jet control means 53 that jets the cleaning fluid from the arranged cleaning nozzle to the pressure plate, and an evaluation means 54 that acquires pressure receiving characteristic data consisting of measurement values of respective pressure measurement points and compares the same with a reference pressure receiving characteristic to evaluate the jet characteristic of the cleaning nozzle, and to evaluate the performance of the cleaning nozzle and that of the nozzle movement mechanism.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a washing machine management apparatus that manages an NC washing machine and a washing machine management method.

  In a cleaning process for cleaning a workpiece in a process of processing the workpiece, an NC cleaning machine is used which controls a nozzle or the like for injecting a cleaning solution using NC control (numerical control). Management of the NC cleaning machine is required to perform proper cleaning. At present, as a factor system control item of the NC cleaning machine, the discharge pressure of the cleaning solution and the target inspection are carried out.

As the discharge pressure of the cleaning liquid, the original pressure of a high-pressure pump that pumps the cleaning liquid to the cleaning nozzle is confirmed, and daily management is performed to determine whether the original pressure is normal.
As a target inspection, the workpiece is colored by color spray and then the NC cleaning machine is operated to spray the cleaning solution from the cleaning nozzle to clean the workpiece, and the cleaning result (the degree of remaining colored paint) is taken as a sample In comparison, confirm that the capacity (position accuracy, pressure, flow rate) of the washing machine has not decreased.

  Further, according to Patent Document 1, in a cleaning apparatus that holds a substrate such as a semiconductor wafer in a horizontal posture and rotates the nozzle about the vertical axis while discharging the cleaning solution from the nozzle to the substrate, the cleaning solution There is disclosed a technique for managing the discharge flow rate and discharge pressure of the cleaning liquid from the nozzle by measuring the flow rate and pressure.

Patent No. 3095324

However, there are the following problems in the discharge pressure and target inspection of the cleaning solution currently performed as a factor system management item of the NC cleaning machine.
That is, although the thing based on source pressure management of a high pressure pump is common about discharge pressure, in source pressure management, the pressure currently applied to the actual cleaning parts is unknown. Further, depending on the washing machine used, even if the high pressure pump capacity is the same, the specifications such as the hole diameter and the number of holes are different depending on the washing nozzle used, and it is difficult to manage the details.

  Also, in the target inspection of the nozzle, the NC cleaning machine is actually operated according to the work to perform the cleaning inspection, so the cleaning state can be inspected according to the various operations of the nozzle. It is necessary to make a comparison of all the nozzle hit inspections with the limit sample, which makes it difficult to find abnormalities such as the deterioration of the washing machine, and also causes variations in the judgment workers. In addition, since the paint that colors the work scatters and adheres to the inside of the machine, it is necessary to take measures against this.

  Although it is unclear whether the washing machine is an NC washing machine, the technology of Patent Document 1 can determine the pressure applied to the workpiece because it measures the flow rate and pressure of the washing liquid discharged from the nozzle. However, it is only stated that the strain gauge is used to measure the pressure of the cleaning liquid discharged from the nozzle, which is not sufficient to properly evaluate the performance of the nozzle. Further, unlike the above-described target inspection, since inspection is not performed according to NC control, it is considered difficult to inspect the cleaning state corresponding to various operations of the nozzle.

  The present invention was conceived focusing on such problems, and appropriately evaluate the performance of the cleaning nozzle in a cleaning machine controlled by numerical control, and also evaluate the performance of the mechanism for moving the cleaning nozzle. It is an object of the present invention to provide a washing machine management apparatus and a washing machine management method which are capable of

  (1) In order to achieve the above object, the cleaning machine management apparatus of the present invention moves a cleaning space in which an object to be cleaned is set, a cleaning nozzle for injecting a cleaning solution in the cleaning space, and the cleaning nozzle The cleaning machine management apparatus manages a cleaning machine including: a nozzle moving mechanism for causing pressure to be supplied; a pump for pressurizing and supplying a cleaning solution to the cleaning nozzle; and a control unit for numerically controlling the nozzle moving mechanism and the pump. A pressure receiving plate having a plurality of pressure measurement points, which are respectively installed at an origin position of the washing nozzle in the washing space and a moving position at which the washing nozzle is moved by the nozzle moving mechanism; Position control means for operating to position the cleaning nozzle at a predetermined position and at a predetermined posture with respect to the pressure receiving plate; and operating the pump to operate at the predetermined position and the predetermined position From the output of the pressure receiving plate when the cleaning liquid is sprayed from the cleaning nozzle to the pressure receiving plate from the cleaning nozzle by the injection control means that jets the cleaning liquid toward the pressure receiving plate from the cleaning nozzle arranged in a biased manner Receiving pressure characteristic data comprising measured values of the plurality of pressure measurement points, comparing the pressure receiving characteristic data with a reference pressure receiving characteristic to evaluate the jet characteristic of the washing nozzle, and based on the evaluation result, the washing nozzle And evaluation means for comprehensively evaluating the performance of the nozzle moving mechanism and the performance of the nozzle movement mechanism.

(2) The predetermined position is a position where the cleaning nozzle is separated from the pressure receiving plate by a predetermined distance, and the predetermined attitude is an attitude facing the pressure receiving plate, and the plurality of pressure measurement of the pressure receiving plate The point is arranged to include the entire area of at least one diameter in the injection area of the cleaning liquid from the cleaning nozzle arranged at the predetermined position and in the predetermined posture, and the evaluation unit is configured to receive the pressure receiving characteristic data A waveform pattern formed of each detection point position on one diameter and a measurement value for each detection point position is processed, and a measurement waveform pattern corresponding to the measurement value is compared with the reference waveform pattern as the reference pressure receiving characteristic. Preferably, the jet characteristics of the cleaning nozzle are evaluated.
(3) It is preferable that the evaluation unit evaluates the ejection characteristics of the cleaning nozzle based on whether or not the measured waveform pattern is within a reference waveform area set around the reference waveform pattern.

(4) The nozzle moving mechanism moves the cleaning nozzle in three directions, the X axis direction, the Y axis direction, and the Z axis direction respectively orthogonal to each other from the origin position. The pressure receiving plate has an origin pressure receiving plate installed at the origin position, and a predetermined distance from the origin position in the X axis direction, the Y axis direction, and the Z axis direction, respectively. , A diagnostic point pressure receiving plate installed at the comprehensive diagnostic position moved only, an X bearing pressure plate installed at the X axial direction diagnostic position moved only a predetermined distance from the home position only in the X axis direction, and the home position To the Y bearing pressure plate installed at the Y axis direction diagnostic position moved only a predetermined distance only in the Y axis direction, and at the Z axis direction diagnostic position moved only a predetermined distance from the origin position only in the Z axis direction Z done A pressure receiving plate, wherein the origin pressure receiving plate, the diagnosis point pressure receiving plate, the X bearing pressure plate, the Y bearing pressure plate, and the Z bearing pressure plate are all installed in a posture in which the cleaning nozzle can be disposed at the predetermined position The evaluation means compares the pressure receiving characteristic data obtained from the origin pressure receiving plate, the diagnosis point pressure receiving plate, the X bearing pressure plate, the Y bearing pressure plate, and the Z bearing pressure plate with the reference pressure receiving characteristics, and the cleaning nozzle It is preferable to carry out the evaluation of the injection characteristics of
(5) The predetermined distances taken in the X-axis direction, the Y-axis direction, and the Z-axis direction are the X-axis direction, the Y-axis direction, and the Z movable from the origin position by the nozzle moving mechanism. It is preferred that they are the respective maximum travel distances in the axial direction.

  (6) The evaluation means carries out a first determination to determine whether the jet characteristic of the cleaning nozzle is normal based on the pressure receiving characteristic data obtained from the diagnostic point pressure receiving plate, and When it is determined that the jet characteristic of the cleaning nozzle is normal, each performance of the cleaning nozzle and the cleaning liquid injection system of the pump is normal, and the X-axis direction moving system, When it is determined that the performances of the Y-axis direction movement system and the Z-axis direction movement system are all normal, and the injection characteristics of the cleaning nozzle are determined not to be normal according to the first determination, the origin point A second determination is performed to determine whether the jet characteristic of the cleaning nozzle is normal based on the pressure receiving characteristic data obtained from the pressure receiving plate, and the jet characteristic of the cleaning nozzle is positive according to the second determination. If it is determined that the cleaning solution injection system is not normal, and if it is determined that the injection characteristic of the cleaning nozzle is normal according to the second determination, the X bearing pressure plate, the Y bearing A third determination is performed to determine whether the jet characteristic of the cleaning nozzle is normal based on the pressure receiving characteristic data obtained from any of the pressure plate and the Z bearing pressure plate, and the cleaning is performed according to the third determination. If it is determined that the injection characteristic of the nozzle is not normal, the performance of the axial movement system corresponding to the corresponding pressure receiving plate among the X bearing pressure plate, the Y bearing pressure plate and the Z bearing pressure plate is not normal. It is preferable to determine.

(7) The washing machine further comprises: a fixing base for fixing the object to be cleaned in the cleaning space; and a rotation drive mechanism for rotating the fixing base from an initial posture around a predetermined axis, and the control The means performs numerical control including the rotational drive mechanism, and the pressure receiving plate is an origin pressure receiving plate installed at the origin position according to the initial attitude of the fixed base, and the X axis direction from the origin position And moving the fixed base by a predetermined distance in the Y-axis direction and the Z-axis direction, and installing the fixed base at a comprehensive diagnostic position according to a state in which the fixed base is rotated about the axis of the predetermined axis from the initial attitude. A diagnostic point pressure receiving plate, an X bearing pressure plate installed at an X axis direction diagnostic position moved only in the X axis direction from the initial position of the home position and the initial posture of the fixing base, and the home position position and Said A Y bearing pressure plate installed at a Y axis direction diagnostic position moved only in the Y axis direction from the initial attitude of the fixed table, and the origin position and the initial attitude of the fixing table from the initial position of the fixing table A Z bearing pressure plate installed at a Z axis direction diagnosis position moved only by the predetermined distance in the Z axis direction, the fixing base from the initial position and the initial attitude of the fixing base around the predetermined axis A rotational pressure receiving plate installed at a position rotated by a predetermined angle, the origin pressure receiving plate, the diagnosis point pressure receiving plate, the X bearing pressure plate, the Y bearing pressure plate, the Z bearing pressure plate, the first bearing pressure plate, and Each of the second bearing pressure plates is installed in a posture in which the cleaning nozzle can be disposed at the predetermined position, and the evaluation means includes the origin pressure receiving plate, the diagnostic point pressure receiving plate, the X bearing pressure plate, the Y bearing pressure plate, Said Z bearing pressure plate It is preferable that the pressure receiving characteristic data obtained from finely the rotation corresponding pressure receiving plate as compared to the reference pressure characteristic evaluating the injection characteristic of the cleaning nozzle.
(8) It is preferable that the said predetermined angle concerning rotation rotation around the said predetermined axis | shaft is the largest rotation angle driven by the said rotational drive mechanism.

  (9) The evaluation means carries out a first determination to determine whether the jet characteristic of the cleaning nozzle is normal based on the pressure receiving characteristic data obtained from the diagnostic point pressure receiving plate, When it is determined that the jet characteristic of the cleaning nozzle is normal, each performance of the cleaning nozzle and the cleaning liquid injection system of the pump is normal, and the X-axis direction moving system, When it is determined that the performances of the Y-axis direction movement system, the Z-axis direction movement system, and the rotary drive mechanism are normal, and the injection characteristics of the cleaning nozzle are not normal by the first determination, A second determination is performed to determine whether the jet characteristic of the cleaning nozzle is normal based on the pressure receiving characteristic data obtained from the origin pressure receiving plate, and the second judgment determines the ejection of the cleaning nozzle. When it is determined that the characteristics are not normal, it is determined that the cleaning solution injection system is not normal, and when it is determined by the second determination that the injection characteristics of the cleaning nozzle are normal, the X bearing pressure plate, Based on the pressure receiving characteristic data obtained from any of the Y bearing pressure plate, the Z bearing pressure plate, the first bearing pressure plate, and the second bearing pressure plate, it is determined whether or not the jet characteristic of the cleaning nozzle is normal. The third determination is performed, and when it is determined that the jet characteristic of the cleaning nozzle is not normal according to the third determination, the X bearing pressure plate, the Y bearing pressure plate, the Z bearing pressure plate, and the rotation corresponding pressure receiving plate It is preferable to determine that the performance of the nozzle moving mechanism or the rotational drive mechanism corresponding to the corresponding pressure receiving plate among the above is not normal.

  (10) In the cleaning machine management method of the present invention, a cleaning space in which an object to be cleaned is set, a cleaning nozzle for ejecting a cleaning liquid in the cleaning space, a nozzle moving mechanism for moving the cleaning nozzle, and the cleaning nozzle A cleaning machine management method for managing a cleaning machine having a pump for pressurizing and supplying a cleaning liquid and injecting the cleaning liquid, and a control means for numerically controlling the nozzle moving mechanism and the pump, the cleaning in the cleaning space A pressure receiving plate having a plurality of pressure measurement points is installed at each of the origin position of the nozzle and the moving position at which the cleaning nozzle is moved by the nozzle moving mechanism, and the nozzle moving mechanism is operated to receive the cleaning nozzle. A nozzle moving step of arranging at a predetermined position and a predetermined posture with respect to the plate; and the cleaning nozzle arranged at the predetermined position and at a predetermined posture by operating the pump Pressure receiving characteristics comprising measured values of the plurality of pressure measurement points from the injection step of injecting the cleaning liquid toward the pressure receiving plate and the output of the pressure receiving plate when the cleaning liquid is injected from the cleaning nozzle to the pressure receiving plate Performance of the cleaning nozzle based on the evaluation result of the jet characteristic evaluation step of acquiring data and comparing the pressure receiving characteristic data with the reference pressure receiving characteristic to evaluate the jet characteristic of the cleaning nozzle; and the evaluation result of the first evaluation step. And performing an integrated evaluation step to evaluate the performance of the nozzle moving mechanism.

According to the present invention, pressure receiving characteristic data consisting of measured values of a plurality of pressure measurement points of the pressure receiving plate is acquired, and the pressure receiving characteristic data is compared with the reference pressure receiving characteristic to evaluate the performance of the cleaning nozzle. It will be possible to properly evaluate the performance.
Also, by comprehensively evaluating the performance evaluation results of the cleaning nozzle in each pressure receiving plate respectively installed at the origin position of the cleaning nozzle in the cleaning space and the moving position where the cleaning nozzle is moved by the nozzle moving mechanism. It becomes possible to separate and evaluate the performance of the cleaning nozzle and the performance of the moving mechanism.

It is a block diagram which shows the structure of NC washing machine and washing machine management apparatus which concern on one Embodiment of this invention. It is a perspective view explaining the basic composition of NC cleaning machine concerning one embodiment of the present invention. It is a perspective view explaining arrangement of a pressure receiving board concerning one embodiment of the present invention. It is a figure explaining the measurement waveform pattern which concerns on one Embodiment of this invention, and a reference waveform pattern, (a) is an arrangement | positioning figure of the washing nozzle and pressure receiving board explaining a measurement state, (b) is a measurement waveform It is a graph which illustrates a pattern and a reference waveform pattern. It is a flowchart explaining the procedure of the measurement by each pressure receiving plate by the washing machine management method which concerns on one Embodiment of this invention, and evaluation by a measurement result. It is a flowchart explaining the principal part of the washing machine management method concerning one embodiment of the present invention.

  Hereinafter, embodiments of a washing machine management apparatus and a washing machine management method according to the present invention will be described with reference to the drawings. Note that the embodiments described below are merely illustrative, and there is no intention to exclude the application of various modifications and techniques that are not specified in the following embodiments. The embodiment can be implemented partially using it, modifying it partially, or replacing it with another mechanism or device having the same function.

[Configuration of washing machine]
First, the washing machine according to the present embodiment will be described.
As this cleaning machine, an NC cleaning machine in which each part is controlled using NC control (numerical control) is used. FIG. 1 is a block diagram showing the configuration of the NC cleaning machine and the cleaning machine management apparatus, and FIG. 2 is a perspective view for explaining the basic configuration of the NC cleaning machine. As shown in FIGS. 1 and 2, the NC cleaning machine 10 includes a cleaning space 11 surrounded by a wall (not shown), a cleaning nozzle 12 for injecting a cleaning solution in the cleaning space, and an object 14 to be cleaned in the cleaning space 11. And a fixing base 13 for fixing the

  A cleaning solution injection pump (hereinafter simply referred to as a pump) 40 is connected to the cleaning nozzle 12. The pump 40 sucks and pressurizes the cleaning liquid in a tank (not shown) and supplies the cleaning nozzle 12 with pressure. As a result, the cleaning liquid is ejected from the nozzle opening (not shown) of the cleaning nozzle 12.

  Further, the cleaning nozzle 12 is moved by the nozzle moving mechanism 20. In the present embodiment, the nozzle moving mechanism 20 moves the cleaning nozzle 12 in the X direction, the X direction moving system 21, the Y direction moving system 22 in the Y direction, and the Z direction moving system 23 in the Z direction. And the cleaning nozzle 12 is moved three-dimensionally in three directions of X, Y and Z directions. Here, the Z direction is the vertical direction, the X direction and the Y direction are both horizontal directions, and the X direction and the Y direction are orthogonal to each other, and the position of the cleaning nozzle 12 is in the X, Y, Z coordinate system. It can be expressed as coordinates (X, Y, Z).

  The fixed base 13 is rotated by a rotational drive mechanism 30 around a predetermined axis. In the present embodiment, the rotation drive mechanism 30 rotates around the A axis 31 for rotating the fixed base 13 about a horizontal axis (hereinafter referred to as A axis) 31c, and a vertical axis (hereinafter referred to as C axis) 32c. And a rotation system 32 about a C-axis that rotates about the axis c, and the fixing base 13 is configured to be changed in posture and position by rotating around these two axes. Here, the A axis is set in the horizontal direction, and the C axis is set in the vertical direction. However, the C axis is different from the Z axis.

As the position of the cleaning nozzle 12 (in this case, the position of the nozzle opening of the cleaning nozzle 12), there is an origin position with coordinates (X, Y, Z) of (0, 0, 0). The nozzle opening of the cleaning nozzle 12 moves from this origin position when the cleaning machine 10 starts up, and returns to this origin position when the NC cleaning machine 10 stops.
In addition, the fixing base 13 includes a fixing surface 13 a for fixing the cleaning target 14, and the state where the fixing surface 13 a is horizontal and directed in a predetermined direction around the C axis is an initial posture. It is appropriately rotationally driven around the A axis and the C axis from the posture.

The NC cleaning machine 10 is provided with an NC control unit (control means) 50 that numerically controls the pump 40, the nozzle moving mechanism 20, and the rotary drive mechanism 30.
The NC control unit 50 is constituted by a computer comprising a CPU, a ROM, a RAM, etc., and the position control unit (position control means) 51 for numerically controlling the position of the cleaning nozzle 12 A rotation control unit (rotation control means) 52 that performs numerical control and an injection control unit (injection control means) 53 that controls the operation of the pump 40 are provided.

  The X axis movement system 21 of the nozzle movement mechanism 20, the Y direction movement system 22, the Z direction movement system 23, and the rotation system 31 around the A axis of the rotation drive mechanism 30 and the rotation system 32 around the C axis are equipped with servo mechanisms. The cleaning nozzle 12 is controlled to move to the position indicated by the numerical value, and the fixed base 13 is attitude controlled to the direction indicated by the numerical value.

[Configuration of Cleaning Machine Management Device]
Next, the washing machine management apparatus according to the present embodiment will be described.
The cleaning machine management apparatus is configured using the NC control unit 50, and numerically controls the position of the cleaning nozzle 12 and the attitude of the fixing base 13 in response to the pressure receiving plate 60 and the output signal from the pressure receiving plate 60. Position control unit 51 and rotation control unit 52, injection control unit 53 for controlling the operation of the pump 40, and injection characteristics of the cleaning nozzle 12 are evaluated, and the performance and movement of the cleaning nozzle 12 itself are evaluated based on the evaluation results. An evaluation unit (evaluation means) 54 for evaluating the performance of the mechanism 20 and the rotational drive mechanism 30 is provided. In the present embodiment, although the evaluation unit 54 is provided in the NC control device 50, the evaluation unit 54 may be provided in hardware different from the NC control device 50.

  As shown in FIG. 4A, the pressure receiving plate 60 is provided with a pressure receiving surface 60F for receiving the cleaning liquid ejected from the cleaning nozzle 12, and the pressure receiving surface 60F is provided with a plurality of pressure measurement points (not shown). . The plurality of pressure measurement points are arranged to include at least one diameter of the spray area of the cleaning liquid from the cleaning nozzle 12 if the cleaning nozzle 12 is positioned at a predetermined position with respect to the pressure receiving surface 60F. It is done.

  In other words, the cleaning nozzle 12 is disposed to coincide with the center line CL at a position (predetermined position) separated by a predetermined distance from the pressure receiving surface 60F, and has a posture (predetermined posture) facing the pressure receiving surface 60F. When the cleaning liquid is jetted, a circular pressure is applied to the pressure receiving surface 60F. On the pressure receiving surface 60F, a large number of pressure measurement points are evenly arranged in a straight line on the center of this circle (including the entire area of one diameter of the circle (any one diameter)).

Therefore, as shown in FIG. 4B, assuming that the position of the pressure measurement point of the pressure receiving plate 60 is the horizontal axis and the pressure (impact force) received by the pressure receiving surface 60F is the vertical axis, as shown by the dots of each shape. The waveform pattern of the characteristic which becomes high-pressure in a fixed range centering on center line CL location (it displays with 0.0 in radial direction position) of pressure-receiving surface 60F, and the pressure falls in a pressure-receiving edge part. Incidentally, in FIG. 4 (b), even when the cleaning nozzle 12 is jetted washing liquid normally, the distance L is slightly by three different patterns from the nozzle opening to the pressure receiving surface 60F (L = L _1, L ₂ , L ₃ , where L ₁ <L ₂ <L ₃ ).

  The waveform pattern detected by the pressure receiving plate 60 when the jet of the cleaning liquid is normally performed has a hat shape of a specific size and shape as shown in FIG. Can be set as a reference waveform pattern for evaluating the measured waveform pattern. Here, in consideration of a measurement error including an error in the distance from the nozzle opening to the pressure receiving surface 60F, as shown as a region surrounded by a broken line in FIG. The waveform area is set, and the evaluation unit 54 evaluates the ejection characteristics of the cleaning nozzle 12 depending on whether or not the measured waveform pattern is within the reference waveform area.

The pressure receiving plate 60 is arranged according to each position P1 to P7 in the cleaning space 11, as shown in FIG.
A diagnostic point pressure receiving plate 61 is installed at the comprehensive diagnostic position (diagnostic point) P1. The general diagnostic position P1 is a predetermined distance in the X-axis direction, Y-axis direction and Z-axis direction from the origin position (origin) P2 of the nozzle opening of the cleaning nozzle 12 While moving the fixed base 13 from the initial attitude around the A axis and the C axis by a predetermined angle (here, the maximum rotation angle of each of the rotation systems 31 and 32). is there.

An origin pressure receiving plate 62 is provided at the origin position P2.
An X bearing pressure plate 63 is installed at the X axis direction diagnostic position P3. The X-axis direction diagnosis position P3 is a position moved from the initial position P2 and the initial posture of the fixed base 13 only in the X-axis direction by a predetermined distance (here, the maximum movement distance of the moving system 21).

A Y bearing pressure plate 64 is installed at the Y axis direction diagnosis position P4. The Y-axis direction diagnosis position P4 is a position moved from the origin position P2 and the initial posture of the fixed base 13 only in the Y-axis direction by a predetermined distance (here, the maximum movement distance of the moving system 22).
A Z bearing pressure plate 65 is installed at the Z axis direction diagnosis position P5. The Z-axis direction diagnosis position P5 is a position moved from the initial position P2 and the initial posture of the fixed base 13 only in the Z-axis direction by a predetermined distance (here, the maximum movement distance of the moving system 23).

An A-axis rotation pressure receiving plate 66 is installed at the A-axis rotational position P6. The A-axis rotational position P6 is a position obtained by rotating the fixed base 13 by a predetermined angle (here, the maximum rotation angle of the rotary system 31) only around the A-axis from the initial position P2 and the initial attitude of the fixed base 13 The pressure plate 66 for A-axis rotation is installed on the fixed base 13.
A C-axis rotational pressure receiving plate 67 is provided at the C-axis rotational position P7. The C-axis rotational position P7 is a position obtained by rotating the fixed base 13 by a predetermined angle (here, the maximum rotation angle of the rotary system 32) only around the C-axis from the origin position P2 and the initial attitude of the fixed base 13 The C-axis rotation pressure receiving plate 67 is installed on the fixed base 13.

  In each of the pressure receiving plates 61 to 67, at the respective positions P1 to P7, the pressure receiving surface 60F is in a posture in which the pressure receiving surface 60F is directly opposed to the jet direction of the cleaning liquid of the cleaning nozzle 12 It is installed at a position separated by a predetermined distance L. In the present embodiment, since the cleaning nozzle 12 is set to spray the cleaning liquid vertically downward, the pressure receiving plates 61 to 67 are installed with the respective pressure receiving surfaces 60F directed vertically upward.

  The evaluation unit 54 uses the origin pressure receiving plate 62, the diagnosis point pressure receiving plate 61, the X bearing pressure plate 63, the Y bearing pressure plate 64, the Z bearing pressure plate 65, the pressure receiving plate 66 for A axis rotation, and the pressure receiving plate 67 for C axis rotation. The pressure receiving characteristic data obtained is compared with the reference pressure receiving characteristic to evaluate the jet characteristic of the cleaning nozzle 12. In particular, the performance of the cleaning nozzle 12 and the performance of the nozzle moving mechanism 20 and the rotational driving mechanism 30 are evaluated based on the evaluation results of the pressure receiving plates 61 to 67. The processing content concerning this performance evaluation will be described later.

[Method of managing cleaning machine]
Next, the management method of the washing machine by the washing machine management apparatus and the processing contents of the evaluation unit 54 used therein will be described with reference to the flow chart of FIG.
The origin pressure receiving plate 62, the diagnostic point pressure receiving plate 61, the X bearing pressure plate 63, the Y bearing pressure plate 64, the Z bearing pressure plate 65, the pressure receiving plate 66 for A axis rotation, and the pressure receiving plate 67 for C axis rotation It is installed at a predetermined position (position according to positions P1 to P7) in a predetermined posture.

  FIG. 5 is a flow chart for explaining the procedure of measurement by the pressure receiving plate 60 (any of the pressure receiving plates 61 to 67) and evaluation based on the measurement result. As shown in FIG. 5, first, the cleaning nozzle 12 is moved to a predetermined position (any one of positions P1 to P7) (step S10, nozzle moving step), and after movement, the cleaning liquid is jetted (step S20, injection) Process). The injection time at this time may be a time for which the injection pressure can be properly detected by the pressure receiving plate 60, that is, a time for the injection pressure to be stabilized. Then, when the injection pressure is stabilized, the output (pressure receiving data) of the pressure receiving plate 60 is taken.

  The pressure receiving characteristic data consisting of measured values of a plurality of pressure measurement points obtained as the output of the pressure receiving plate 60 is processed into a waveform pattern as shown in FIG. 4 (b), and this measured waveform pattern is registered in advance. The pattern matching to compare with the reference waveform pattern is performed to evaluate the jet characteristic of the cleaning nozzle (step S30, jet characteristic evaluation step (first evaluation step)).

  Here, as shown as a region surrounded by a broken line in FIG. 4B, a reference waveform region having a width centered on the reference waveform pattern is set, and depending on whether the measurement waveform pattern is within this reference waveform region. The jet characteristics of the cleaning nozzle 12 are evaluated. That is, if the measured waveform pattern is within this reference waveform area, it is determined that the ejection characteristics of the cleaning nozzle 12 are normal, and if the measured waveform pattern deviates even slightly from this reference waveform area, the ejection characteristics of the cleaning nozzle 12 are not normal. It is determined that

Then, the performance of the injection system, the nozzle moving mechanism 20, and the rotation drive mechanism 30 is evaluated based on the evaluation result of the ejection characteristics of the cleaning nozzle 12 (step S40, comprehensive evaluation step (second evaluation step)). In this second evaluation step, each performance is evaluated according to the individual characteristics of the pressure receiving plate 60 used for detection and according to the combination of the evaluation results of the ejection characteristics of the cleaning nozzle 12.
Based on the result of the second evaluation step, it is determined whether or not measurement data of another pressure receiving plate 60 is necessary, and if measurement data is necessary, the process proceeds to step S20 again and the cleaning liquid is jetted. The data of the position corresponding to the pressure receiving plate 60 is acquired to evaluate each performance (steps S30 and S40).

表１に示すパターン１〜パターン８は、洗浄ノズル１２の噴射特性の各位置Ｐ１〜Ｐ７での評価結果の組み合わせを表している。○は洗浄ノズル１２の噴射特性が正常であること（ＯＫ）を、×は洗浄ノズル１２の噴射特性が正常でないこと（ＮＧ）を、それぞれ示す。 Here, referring to Table 1, the cleaning nozzle 12, the nozzle moving mechanism 20, and the combination of the evaluation results of the jet characteristics of the cleaning nozzle 12 at each of the positions P1 to P7 based on the data of each pressure receiving plate 60. And the evaluation content of each performance of the rotational drive mechanism 30 is demonstrated.

The patterns 1 to 8 shown in Table 1 represent combinations of evaluation results of the injection characteristics of the cleaning nozzle 12 at the respective positions P1 to P7. ○ indicates that the jet characteristic of the cleaning nozzle 12 is normal (OK), and x indicates that the jet characteristic of the cleaning nozzle 12 is not normal (NG).

  Pattern 1 includes diagnosis point (general diagnosis position) P1, origin (origin position) P2, X axis diagnosis point (X axis diagnosis position) P3, Y axis diagnosis point (Y axis diagnosis position) P4, Z axis diagnosis point (Z Axis diagnostic position) P5, A-axis diagnostic point (A-axis rotational position) P6, C-axis diagnostic point (C-axis rotational position) P7 The jet characteristics of the cleaning nozzle 12 were all evaluated as normal. That's the case.

  Pattern 2 is evaluated that each of the ejection characteristics of the cleaning nozzle 12 is not normal at each of the diagnosis point P1 and the origin P2, and the X axis diagnosis point P3, the Y axis diagnosis point P4, the Z axis diagnosis point P5, and the A axis It is a case where all of the ejection characteristics of the cleaning nozzle 12 are evaluated as normal at each position of the diagnosis point P6 and the C-axis diagnosis point P7.

  Pattern 3 is evaluated that each of the ejection characteristics of the cleaning nozzle 12 is not normal at each of the diagnosis point P1 and the X axis diagnosis point P3, and the origin P2, Y axis diagnosis point P4, Z axis diagnosis point P5, A axis It is a case where all of the ejection characteristics of the cleaning nozzle 12 are evaluated as normal at each position of the diagnosis point P6 and the C-axis diagnosis point P7.

  In pattern 4, at each position of diagnosis point P1 and Y-axis diagnosis point P4, it is evaluated that none of the ejection characteristics of cleaning nozzle 12 is normal, X-axis diagnosis point P3, origin P2, Z-axis diagnosis point P5, A-axis It is a case where all of the ejection characteristics of the cleaning nozzle 12 are evaluated as normal at each position of the diagnosis point P6 and the C-axis diagnosis point P7.

  Pattern 5 is evaluated at each position of diagnosis point P1 and Z-axis diagnosis point P5 that none of the ejection characteristics of cleaning nozzle 12 is normal, X-axis diagnosis point P3, Y-axis diagnosis point P4, origin P2, A-axis It is a case where all of the ejection characteristics of the cleaning nozzle 12 are evaluated as normal at each position of the diagnosis point P6 and the C-axis diagnosis point P7.

  In pattern 6, at each position of diagnosis point P1 and A axis diagnosis point P6, it is evaluated that none of the ejection characteristics of cleaning nozzle 12 is normal, X axis diagnosis point P3, Y axis diagnosis point P4, Z axis diagnosis point P5 At each position of the origin point P2 and the C-axis diagnostic point P7, the ejection characteristics of the cleaning nozzle 12 are all evaluated to be normal.

  In pattern 7, at each position of diagnostic point P1 and C-axis diagnostic point P7, it is evaluated that none of the ejection characteristics of cleaning nozzle 12 is normal, X-axis diagnostic point P3, Y-axis diagnostic point P4, Z-axis diagnostic point P5 At each position of the origin point P2 and the A-axis diagnostic point P6, the jet characteristics of the cleaning nozzle 12 are all evaluated as being normal.

  Pattern 8 includes diagnostic point (general diagnostic position) P1, origin (origin position) P2, X axis diagnostic point (X axis diagnostic position) P3, Y axis diagnostic point (Y axis diagnostic position) P4, Z axis diagnostic point (Z Axis diagnostic position) P5, A-axis diagnostic point (A-axis rotational position) P6, C-axis diagnostic point (C-axis rotational position) P7 When none of the ejection characteristics of the cleaning nozzle 12 are evaluated to be normal It is.

  In order for the jet characteristics of the cleaning nozzle 12 to be evaluated as normal at the diagnosis point P1, the performance of the injection system is normal, and any one of the cleaning nozzle 12 in the X axis direction, the Y axis direction, and the Z axis direction It is necessary to move appropriately up to the movable limit (maximum movement distance) in the direction as well, and to properly rotate the fixed base 13 to the movable limit (maximum rotation angle) in either direction around the A axis or B axis. It is. Therefore, when the ejection characteristics of the cleaning nozzle 12 are normal at the comprehensive diagnosis position P1, the ejection characteristics of the cleaning nozzle 12 are normal at the other positions P2 to P7 as shown in pattern 1. Therefore, if it is evaluated at the diagnosis point P1 that the ejection characteristics of the cleaning nozzle 12 are normal, it can be determined that the respective performances of the injection system, the nozzle moving mechanism 20 and the rotary drive mechanism 30 are all normal.

  On the other hand, when it is evaluated that the ejection characteristics of the cleaning nozzle 12 are not normal at the diagnosis point P1, any one or more of the injection system, the nozzle moving mechanism 20 and the rotary drive mechanism 30 are not normal. In this case, it is possible to narrow down whether there is an abnormality in the injection system or an abnormality in the nozzle moving mechanism 20 or the rotation drive mechanism 30 by evaluating the ejection characteristics of the cleaning nozzle 12 at the origin P2.

  That is, if the jet characteristic of the cleaning nozzle 12 at the origin P2 is normal, it can be narrowed down that either the nozzle moving mechanism 20 or the rotation driving mechanism 30 is abnormal. In addition, if the ejection characteristic of the cleaning nozzle 12 at the origin P2 is not normal, it can be estimated that there is an abnormality in the ejection system or there is an abnormality in movement to the origin P2. In this case, when the ejection characteristics of the cleaning nozzle 12 are evaluated as normal at all of the other positions P3 to P7 (pattern 2), it is determined that the nozzle moving mechanism 20 and the rotation drive mechanism 30 are normal. Can.

  If there is an abnormality in the injection system, it will be evaluated that the injection characteristics of the cleaning nozzle 12 are not normal at any of the positions P1 to P7 (pattern 8) but, conversely, any of the cleaning nozzles 12 at the positions P1 to P7. It is not possible to identify that there is an abnormality in the injection system even if the injection characteristics of are evaluated to be not normal. That is, the pattern 8 is also obtained when there is a complex abnormality in the system such as movement to the respective positions P1 to P7. Therefore, in the case of the pattern 8, in order to specify which one is abnormal, it is necessary to carry out a separate inspection.

  If the ejection characteristics of the cleaning nozzle 12 are not normal at the diagnosis point P1, but the ejection characteristics of the cleaning nozzle 12 at the origin P2 are normal, narrow down if any of the nozzle moving mechanism 20 or the rotation drive mechanism 30 is abnormal. Therefore, by evaluating the ejection characteristics of the cleaning nozzle 12 at each of the positions P3 to P7, it is possible to identify which of the corresponding movement systems 21 to 23 and rotation systems 31 and 32 has an abnormality.

  That is, if there is an abnormality in the performance of the X-direction movement system 21, it is evaluated that the ejection characteristics of the cleaning nozzle 12 are not normal at the X-axis diagnostic point P3 (pattern 3). If there is an abnormality in the performance of the Y-direction movement system 22, it is evaluated that the ejection characteristics of the cleaning nozzle 12 are not normal at the Y-axis diagnostic point P4 (pattern 4). If there is an abnormality in the performance of the Z-direction movement system 23, it is evaluated that the ejection characteristics of the cleaning nozzle 12 are not normal at the Z-axis diagnostic point P5 (pattern 5). In addition, if there is an abnormality in the performance of the rotation system 31 around the A axis, it is evaluated that the ejection characteristics of the cleaning nozzle 12 are not normal at the A axis diagnostic point P6 (pattern 6). If there is an abnormality in the performance of the rotation system 32 around the C axis, it is evaluated that the ejection characteristics of the cleaning nozzle 12 are not normal at the C axis diagnostic point P7 (pattern 7).

In the present apparatus, as described above, the evaluation in the second evaluation step is performed based on the evaluation (first evaluation step) of the ejection characteristics of the cleaning nozzle 12 at the respective positions P1 to P7. Hereinafter, the second evaluation process will be described with reference to FIG.
As shown in FIG. 6, first, the cleaning nozzle 12 is moved to the comprehensive diagnosis position (diagnostic point) P1, and the measured waveform pattern acquired by measurement by the diagnostic point pressure receiving plate 61 is determined by pattern comparison with the reference waveform pattern The first determination is made, and the result is determined (step A10).

  As a result of the pattern comparison by the measurement of the diagnostic point pressure receiving plate 61, when it is determined that the ejection characteristics of the cleaning nozzle 12 are normal, it corresponds to the pattern 1 of Table 1, and the ejection system (the ejection performance of the cleaning nozzle 12) It is determined that all of the performance of the nozzle moving mechanism 20 and the performance of the rotary drive mechanism 30 are normal (step A12).

  On the other hand, when it is determined that the ejection characteristic of the cleaning nozzle 12 is not normal as a result of the pattern collation by the measurement of the diagnostic point pressure receiving plate 61, at least one of the ejection system, the nozzle moving mechanism 20, and the rotational driving mechanism 30. It can be determined that the performance is not normal.

  In this case, in the case of the present embodiment, the cleaning nozzle 12 is moved to the origin position (origin) P2, and the measurement waveform pattern acquired by measurement by the origin pressure receiving plate 62 is compared with the reference waveform pattern and determined (No. 2) and the result is judged (step A20).

If it is determined that the ejection characteristics of the cleaning nozzle 12 are normal as a result of pattern comparison by measurement of the origin pressure receiving plate 62, the cleaning nozzle 12 is moved to the X-axis direction diagnosis position P 3 and the X bearing pressure plate 63 is The measured waveform pattern is compared with the reference waveform pattern by measurement and determined (third determination), and the result is determined (step A30).
On the other hand, if it is determined that the ejection characteristics of the cleaning nozzle 12 are not normal as a result of the pattern comparison by the measurement of the origin pressure receiving plate 62, it is determined that the performance of the injection system is not normal (step A22). move on.

  If it is determined that the ejection characteristics of the cleaning nozzle 12 are normal as a result of pattern comparison by measurement of the X-axis direction diagnostic position P3, the cleaning nozzle 12 is moved to the Y-axis direction diagnostic position P4, and the Y bearing pressure plate The measured waveform pattern obtained by the measurement according to 64 is compared with the reference waveform pattern and judged (third judgment), and the result is judged (step A40). On the other hand, if it is determined that the ejection characteristics of the cleaning nozzle 12 are not normal as a result of pattern comparison by measurement of the X-axis direction diagnosis position P3, it is determined that the performance of the X direction movement system 21 is not normal (step A32) ), Go to step A40.

  If it is determined that the ejection characteristics of the cleaning nozzle 12 are normal as a result of pattern comparison by measurement of the Y-axis direction diagnosis position P4, the cleaning nozzle 12 is moved to the Z-axis direction diagnosis position P5 and the Z bearing pressure plate The measured waveform pattern acquired by the measurement according to 65 is compared with the reference waveform pattern and judged (third judgment), and the result is judged (step A50). On the other hand, if it is determined that the ejection characteristics of the cleaning nozzle 12 are not normal as a result of pattern comparison by measurement of the Y-axis direction diagnosis position P4, it is determined that the performance of the Y direction moving system 22 is not normal (step A42) ), Go to step A50.

  If it is determined that the ejection characteristics of the cleaning nozzle 12 are normal as a result of pattern comparison by measurement of the Z-axis direction diagnosis position P5, the cleaning nozzle 12 is moved to the A-axis rotational position P6 to support A-axis rotation. The measured waveform pattern acquired by the measurement by the pressure receiving plate 66 is determined by pattern comparison with the reference waveform pattern (third determination), and the result is determined (step A60). On the other hand, if it is determined that the ejection characteristics of the cleaning nozzle 12 are not normal as a result of pattern comparison by measurement of the Z-axis direction diagnosis position P5, it is determined that the performance of the Z direction moving system 23 is not normal (step A52) ), Go to step A60.

  As a result of pattern collation by measurement of the A-axis rotational position P6, when it is determined that the jet characteristic of the cleaning nozzle 12 is normal, the cleaning nozzle 12 is moved to the C-axis rotational position P7 to receive the C-axis rotational pressure. The measured waveform pattern obtained by the measurement by the plate 67 is pattern-matched with the reference waveform pattern to make a judgment (third judgment), and the result is judged (step A70). On the other hand, if it is determined that the ejection characteristics of the cleaning nozzle 12 are not normal as a result of pattern comparison by measurement of the A-axis rotational position P6, it is determined that the performance of the rotation system 31 about the A axis is not normal (step A62) ), Go to step A70.

  If it is determined that the ejection characteristics of the cleaning nozzle 12 are normal as a result of pattern comparison based on the measurement of the C-axis rotational position P7, the abnormality of the other part is checked (step A80). On the other hand, if it is determined that the ejection characteristics of the cleaning nozzle 12 are not normal as a result of pattern matching by measurement of the C-axis rotational position P7, it is determined that the performance of the rotation system 32 about C-axis is not normal (step A72) ), Go to step A80.

After checking the abnormality of the other part, guidance (for example, guidance display) is provided to repair the part evaluated above based on each evaluation result (step A90).
If it is determined in step A12 that the performance of the injection system (the injection performance of the cleaning nozzle 12), the performance of the nozzle moving mechanism 20, and the performance of the rotary drive mechanism 30 are all normal, the evaluation process After the end, it shifts to the washing cycle.
In addition, the order of steps A30, A40, A50, A60, and A70 according to the above third determination is not limited.

[Action and effect]
According to the washing machine management apparatus and the washing machine management method according to the present embodiment, as described above, pressure reception characteristic data consisting of measurement values of a plurality of pressure measurement points of the pressure reception plate 60 is acquired, and measurement is performed from this pressure reception characteristic data. Since the waveform pattern is generated and the measured waveform pattern is used to evaluate the performance of the cleaning nozzle 12 by comparing the reference waveform pattern with the reference pressure receiving characteristic, the performance of the cleaning nozzle 12 can be appropriately evaluated. .

That is, since the injection pressure from the cleaning nozzle 12 is evaluated by a plurality of pressure measurement points, it is also possible to detect and evaluate an abnormality that may be overlooked when evaluating the injection pressure by a single pressure measurement point. Improve evaluation ability.
In particular, since the ejection performance of the cleaning nozzle 12 is evaluated by comparing the measured waveform pattern with the reference waveform pattern using the waveform pattern, the evaluation can be easily performed.

Further, the jets of the cleaning nozzle 12 in the pressure receiving plates 61 to 67 respectively installed at the origin position P2 of the cleaning nozzle 12 in the cleaning space 11 and the movement positions P1 and P3 to P7 where the cleaning nozzle is moved by the nozzle moving mechanism. Since the performance can be determined separately from the performance of the injection system (the injection performance of the cleaning nozzle 12), the performance of the nozzle moving mechanism 20, and the performance of the rotary drive mechanism 30 based on the evaluation results, maintenance can be performed. Can be improved.
In particular, by providing the diagnostic point pressure receiving plate 61, the evaluation result can be obtained promptly when there is no abnormality, and the transition to the cleaning cycle can be implemented promptly.

[Others]
The embodiments of the present invention have been described above, but the present invention can be implemented with various modifications without departing from the scope of the present invention.
For example, in the above embodiment, the movement positions P1 and P3 to P7 are positions moved to the movable limit of the movement mechanism 20 and the rotation drive mechanism 30 (maximum movement distance, maximum rotation angle). In addition, the movement distance and the rotation angle that do not reach the movable limit of the nozzle movement mechanism 20 or the rotation drive mechanism 30 may be set as the movement position.

Further, in the above embodiment, although the rotational drive mechanism 30 is also evaluated, the ejection system of the cleaning nozzle 12 and the nozzle moving mechanism 20 may be evaluated.
Furthermore, after repairing the repair site, it is also preferable to apply the present apparatus and method to confirm whether the repair is normal or not, and the measurement waveform pattern obtained by the measurement by the pressure receiving plate 60 is to be cleaned. It is also preferable to link and record, and use for management of parts and management of the washing machine 10.

DESCRIPTION OF SYMBOLS 10 NC cleaning machine 11 Cleaning space 12 Cleaning nozzle 13 Fixing base 13a Fixed surface 14 Cleaning object 20 Nozzle movement mechanism 21 X direction movement system 22 Y direction movement system 23 Z direction movement system 30 Rotation drive mechanism 31 A rotation system around A axis 32 Rotation system around C axis 31c A axis 32c C axis 40 Cleaning solution injection pump (pump)
50 NC control unit (control means)
51 Position control unit (position control means)
52 Rotation control unit (rotation control means)
53 Injection control unit (injection control means)
54 Evaluation Department (Evaluation Means)
60 pressure receiving plate 60F pressure receiving surface 61 diagnosis point pressure receiving plate 62 X pressure receiving plate 64 X bearing pressure plate 64 Y bearing pressure plate 65 Z bearing pressure plate 66 pressure bearing plate for A axis rotation 67 pressure bearing plate for C axis rotation P1 comprehensive diagnosis position (diagnostic point)
P2 origin position (origin)
P3 X axis direction diagnostic position P4 Y axis direction diagnostic position P5 Z axis direction diagnostic position P6 A axis rotational position P7 C axis rotational position

Claims (10)

A cleaning space in which an object to be cleaned is set, a cleaning nozzle for ejecting a cleaning liquid in the cleaning space, a nozzle moving mechanism for moving the cleaning nozzle, and a pump for supplying a cleaning liquid to the cleaning nozzle and injecting it. And a control unit that numerically controls the nozzle moving mechanism and the pump.
A pressure receiving plate installed at each of an origin position of the cleaning nozzle in the cleaning space and a moving position to which the cleaning nozzle is moved by the nozzle moving mechanism and having a plurality of pressure measurement points;
Position control means for operating the nozzle moving mechanism to position the cleaning nozzle at a predetermined position and in a predetermined posture with respect to the pressure receiving plate;
Injection control means for operating the pump to inject a cleaning solution from the cleaning nozzle disposed at the predetermined position and in the predetermined posture toward the pressure receiving plate;
Pressure receiving characteristic data consisting of measured values of the plurality of pressure measurement points are acquired from the output of the pressure receiving plate when the cleaning liquid is sprayed from the cleaning nozzle to the pressure receiving plate by the injection control means, and the pressure receiving characteristic data is Evaluating the ejection characteristics of the cleaning nozzle in comparison with the reference pressure receiving characteristics, and evaluating means for comprehensively evaluating the performance of the cleaning nozzle and the performance of the nozzle moving mechanism based on the evaluation result. Washer management device. The predetermined position is a position where the cleaning nozzle is separated from the pressure receiving plate by a predetermined distance, and the predetermined posture is a posture facing the pressure receiving plate,
The plurality of pressure measurement points of the pressure receiving plate are disposed so as to include at least one diameter of the spray region of the cleaning liquid from the cleaning nozzle disposed at the predetermined position and in the predetermined posture.
The evaluation means processes the pressure receiving characteristic data into a waveform pattern formed from the detection point positions on the one diameter and the measurement values for the detection point positions, and measures the measurement waveform pattern corresponding to the measurement values. The washing machine management apparatus according to claim 1, wherein the jet characteristic of the washing nozzle is evaluated in comparison with a reference waveform pattern as the reference pressure receiving characteristic. 3. The apparatus according to claim 2, wherein the evaluation means evaluates the ejection characteristic of the cleaning nozzle based on whether or not the measured waveform pattern is within a reference waveform area set around the reference waveform pattern. Washer management device. The nozzle moving mechanism moves the cleaning nozzle in three directions, the X axis direction, the Y axis direction, and the Z axis direction respectively orthogonal to each other from the origin position, an X axis direction movement system, a Y axis direction movement system, and Z Has an axial movement system,
The pressure receiving plate is
An origin pressure receiving plate installed at the origin position,
A diagnostic point pressure receiving plate installed at a comprehensive diagnostic position which is moved by a predetermined distance in the X axis direction, the Y axis direction and the Z axis direction from the origin position,
An X bearing pressure plate installed at an X axis direction diagnostic position moved from the home position by a predetermined distance only in the X axis direction;
A Y bearing pressure plate installed at a Y axis direction diagnosis position moved from the home position only in the Y axis direction by a predetermined distance;
A Z bearing pressure plate installed at a Z axis direction diagnostic position moved only a predetermined distance from the home position only in the Z axis direction,
The origin pressure receiving plate, the diagnosis point pressure receiving plate, the X bearing pressure plate, the Y bearing pressure plate, and the Z bearing pressure plate are all installed in an attitude capable of arranging the cleaning nozzle at the predetermined position,
The evaluation means compares the pressure receiving characteristic data obtained from the origin pressure receiving plate, the diagnosis point pressure receiving plate, the X bearing pressure plate, the Y bearing pressure plate, and the Z bearing pressure plate with the reference pressure receiving characteristics to obtain the cleaning nozzle The washing machine management apparatus according to any one of claims 1 to 3, wherein the injection characteristics are evaluated. The predetermined distances in the X-axis direction, the Y-axis direction, and the Z-axis direction are the X-axis direction, the Y-axis direction, and the Z-axis direction that can be moved from the origin position by the nozzle moving mechanism. The washing machine management apparatus according to claim 4, wherein the maximum moving distance is each. The evaluation means is
A first determination is performed to determine whether the jet characteristic of the cleaning nozzle is normal based on the pressure receiving characteristic data obtained from the diagnostic point pressure receiving plate;
When it is determined by the first determination that the injection characteristic of the cleaning nozzle is normal, each performance of the cleaning nozzle and the cleaning liquid injection system of the pump is normal, and the X axis direction It is determined that the performances of the moving system, the Y-axis direction moving system, and the Z-axis direction moving system are all normal.
When it is determined by the first determination that the ejection characteristic of the cleaning nozzle is not normal, whether the ejection characteristic of the cleaning nozzle is normal based on the pressure receiving characteristic data obtained from the origin pressure receiving plate Conduct a second determination to determine
When it is determined by the second determination that the injection characteristic of the cleaning nozzle is not normal, it is determined that the cleaning solution injection system is not normal,
When it is determined by the second determination that the injection characteristic of the cleaning nozzle is normal, based on the pressure receiving characteristic data obtained from any of the X bearing pressure plate, the Y bearing pressure plate and the Z bearing pressure plate. A third determination is performed to determine whether the ejection characteristics of the cleaning nozzle are normal.
The axial movement corresponding to the corresponding pressure receiving plate among the X bearing pressure plate, the Y bearing pressure plate, and the Z bearing pressure plate when it is determined that the injection characteristic of the cleaning nozzle is not normal according to the third determination The washing machine management apparatus according to claim 4 or 5, wherein it is determined that the performance of the system is not normal. The washing machine further includes a fixing base for fixing the object to be cleaned in the cleaning space, and a rotation drive mechanism for rotating the fixing base from an initial posture around a predetermined axis, and the control means includes: Perform numerical control including the rotational drive mechanism,
The pressure receiving plate is
An origin pressure receiving plate installed at the origin position according to the initial posture of the fixed base;
While moving from the home position by a predetermined distance in the X-axis direction, the Y-axis direction and the Z-axis direction by a predetermined distance, the fixing base is rotated from the initial posture by a predetermined angle around the axis of the predetermined axis Diagnostic point pressure receiving plate installed at the comprehensive diagnosis position according to
An X bearing pressure plate installed at an X axis direction diagnosis position moved only in the X axis direction by the predetermined distance from the origin position and the initial attitude of the fixing base;
A Y bearing pressure plate installed at a Y axis direction diagnosis position moved only by the predetermined distance in the Y axis direction from the home position and the initial attitude of the fixing base;
A Z bearing pressure plate installed at a Z axis direction diagnosis position moved only by the predetermined distance in the Z axis direction of the fixed base from the home position and the initial attitude of the fixed base;
A rotation-capable pressure receiving plate installed at a position obtained by rotating the fixed base about the predetermined axis by the predetermined angle from the home position and the initial attitude of the fixed base;
The origin pressure receiving plate, the diagnosis point pressure receiving plate, the X bearing pressure plate, the Y bearing pressure plate, the Z bearing pressure plate, the first bearing pressure plate, and the second bearing pressure plate all arrange the cleaning nozzle at the predetermined position. Installed in a possible posture,
The evaluation means compares the pressure receiving characteristic data obtained from the origin pressure receiving plate, the diagnosis point pressure receiving plate, the X bearing pressure plate, the Y bearing pressure plate, the Z bearing pressure plate, and the rotation corresponding pressure receiving plate with the reference pressure receiving characteristics. The washing machine management apparatus according to claim 4 or 5, wherein the jet characteristics of the washing nozzle are evaluated. The washing machine management apparatus according to claim 7, wherein the predetermined angle for rotation of the rotation around the predetermined axis is a maximum rotation angle driven by the rotation drive mechanism. The evaluation means is
A first determination is performed to determine whether the jet characteristic of the cleaning nozzle is normal based on the pressure receiving characteristic data obtained from the diagnostic point pressure receiving plate;
When it is determined by the first determination that the injection characteristic of the cleaning nozzle is normal, each performance of the cleaning nozzle and the cleaning liquid injection system of the pump is normal, and the X axis direction It is determined that the performances of the moving system, the Y-axis direction moving system, the Z-axis direction moving system, and the rotary drive mechanism are normal.
When it is determined by the first determination that the ejection characteristic of the cleaning nozzle is not normal, whether the ejection characteristic of the cleaning nozzle is normal based on the pressure receiving characteristic data obtained from the origin pressure receiving plate Conduct a second determination to determine
When it is determined by the second determination that the injection characteristic of the cleaning nozzle is not normal, it is determined that the cleaning solution injection system is not normal,
When it is determined by the second determination that the injection characteristic of the cleaning nozzle is normal, the X bearing pressure plate, the Y bearing pressure plate, the Z bearing pressure plate, the first bearing pressure plate, and the second bearing pressure plate A third determination is performed to determine whether the jet characteristic of the cleaning nozzle is normal based on the pressure receiving characteristic data obtained from any one of them.
When it is determined by the third determination that the injection characteristic of the cleaning nozzle is not normal, the pressure receiving plate corresponding to the X bearing pressure plate, the Y bearing pressure plate, the Z bearing pressure plate, and the rotation corresponding pressure receiving plate 9. The washing machine management apparatus according to claim 7, wherein it is determined that the performance of the corresponding nozzle movement mechanism or the rotational drive mechanism is not normal. A cleaning space in which an object to be cleaned is set, a cleaning nozzle for ejecting a cleaning liquid in the cleaning space, a nozzle moving mechanism for moving the cleaning nozzle, and a pump for supplying a cleaning liquid to the cleaning nozzle and injecting it. And a control means for numerically controlling the nozzle moving mechanism and the pump.
A pressure receiving plate having a plurality of pressure measurement points is installed at each of an origin position of the cleaning nozzle in the cleaning space and a moving position at which the cleaning nozzle is moved by the nozzle moving mechanism.
A nozzle moving step of operating the nozzle moving mechanism to arrange the cleaning nozzle at a predetermined position and in a predetermined posture with respect to the pressure receiving plate;
Injecting the cleaning solution from the cleaning nozzle disposed at the predetermined position and in the predetermined posture toward the pressure receiving plate by operating the pump;
Pressure receiving characteristic data consisting of measured values of the plurality of pressure measurement points are acquired from the output of the pressure receiving plate when the cleaning liquid is sprayed from the cleaning nozzle to the pressure receiving plate, and the pressure receiving characteristic data is compared with the reference pressure receiving characteristics. A jet characteristic evaluation step of evaluating jet characteristics of the cleaning nozzle;
And a comprehensive evaluation step of evaluating the performance of the cleaning nozzle and the performance of the nozzle moving mechanism based on the evaluation result of the first evaluation step.

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